An overall design principles and programs of the end effector of automatic evisceration for poultry was proposed and the structure of automatic evisceration for poultry with three fingers and three joints was designed for small operating space and flexible fetch features of the manipulator during eviscerating poultry. The manipulator uses tendon to drive fingers bent, the gear using a pair of external gear transmission makes fingers have relative rotation. The interference of the fingers was analyzed and the knuckle inclined chamfering was optimaized. The model of the manipulator finger is established through homogeneous matrix transformation with DenavitHartenberg matrix (DH method)，and kinematic solutions for the manipulator fingers was conducted. The correctness and feasibility of the establishing model of manipulator finger was verified. It will provide theoretical basis and technical support for further studying automatic evisceration manipulator for poultry.